The Dashboard class provides functionality for the autogenerated ui header. More...

#include "pses_dashboard/dashboard.h"

Inheritance diagram for Dashboard:

Public Member Functions
	Dashboard (ros::NodeHandle nh, QWidget parent=0)
	Dashboard constructor. More...

void	keyPressEvent (QKeyEvent *event)
	Callback function in case of a key event. More...

virtual	~Dashboard ()
	Dashboard default destructor. More...

Private Slots
void	cameraSelect (int index)
	This function gets called whenever the camera mode changed. More...

void	centerSteeringClicked ()
	This function gets called whenever the center steering button has been clicked. More...

void	maxLeftSteeringClicked ()
	This function gets called whenever the max left steering button has been clicked. More...

void	maxRightSteeringClicked ()
	This function gets called whenever the max right steering button has been clicked. More...

void	maxSpeedClicked ()
	This function gets called whenever the max speed button has been clicked. More...

void	minSpeedClicked ()
	This function gets called whenever the min speed button has been clicked. More...

void	modeSelect (int index)
	This function gets called whenever a mode has been selected. More...

void	pollNodeHandle ()
	This function gets called whenever the polling timer runs out. More...

void	toggleDAQ ()
	This function gets called whenever the daq toggle button has been pressed. More...

void	toggleKinect ()
	This function gets called whenever the kinect toggle button has been pressed. More...

void	toggleMotor ()
	This function gets called whenever the motor toggle button has been pressed. More...

void	toggleUS ()
	This function gets called whenever the us toggle button has been pressed. More...

void	valueChangedSpeed (int value)
	This function gets called whenever the speed slider changed. More...

void	valueChangedSteering (int value)
	This function gets called whenever the steering slider changed. More...

void	zeroSpeedClicked ()
	This function gets called whenever the zero speed button has been clicked. More...

Private Member Functions
void	callGetCarIdServide ()
	Get the id from the ucboard. More...

void	callGetFirmwareServide ()
	Get the firmware version from the ucboard. More...

void	callGetSidServide ()
	Get the session id from the ucboard. More...

void	cameraCallback (const image_msg::ConstPtr &img)
	This function gets called whenever a message has been published to the color image topic. More...

void	configureVideoFeed ()
	Set up video feed based on launch parameters. More...

void	connectGuiSignals ()
	Register gui relevant callbacks e.g. buttons, silders etc. More...

void	depthCallback (const image_msg::ConstPtr &img)
	This function gets called whenever a message has been published to the depth image topic. More...

void	driveBatteryCallback (const battery_msg::ConstPtr &vdBat)
	This function gets called whenever a message has been published to the drive battery topic. More...

void	fetchStartupParameters ()
	Get all available launch parameters. More...

void	hallCntCallback (const uint8_msg::ConstPtr &hallCnt)
	This function gets called whenever a message has been published to the hall count topic. More...

void	hallDt8Callback (const float64_msg::ConstPtr &hallDt8)
	This function gets called whenever a message has been published to the hall dt 8 topic. More...

void	hallDtCallback (const float64_msg::ConstPtr &hallDt)
	This function gets called whenever a message has been published to the hall dt topic. More...

void	imuCallback (const imu_msg::ConstPtr &imu)
	This function gets called whenever a message has been published to the imu topic. More...

void	initTopicPollingTimer ()
	Ininit ros topic polling timer. More...

void	magneticCallback (const magnetic_msg::ConstPtr &magnetic)
	This function gets called whenever a message has been published to the magnetic field topic. More...

void	odomCallback (const odom_msg::ConstPtr &odom)
	This function gets called whenever a message has been published to the odometry topic. More...

void	reconfigureSpeedSlider ()
	Reconfigure the gui (e.g. speed slider) according to launch paramters. More...

void	registerRosTopics ()
	Register all published/subscribed ros topics. More...

void	systemBatteryCallback (const battery_msg::ConstPtr &vsBat)
	This function gets called whenever a message has been published to the system battery topic. More...

void	usfCallback (const range_msg::ConstPtr &usf)
	This function gets called whenever a message has been published to the front ultra sonic range topic. More...

void	uslCallback (const range_msg::ConstPtr &usl)
	This function gets called whenever a message has been published to the left ultra sonic range topic. More...

void	usrCallback (const range_msg::ConstPtr &usr)
	This function gets called whenever a message has been published to the right ultra sonic range topic. More...

Private Attributes
int	bwdSgn

ros::Subscriber	cameraSub

ros::Subscriber	depthSub

double	distanceTravelled

int	fwdSgn

std::string	getCarIdService

std::string	getFirmwareService

std::string	getSidService

ros::Subscriber	hallCntSub

std::string	hallCntTopic

ros::Subscriber	hallDt8Sub

std::string	hallDt8Topic

ros::Subscriber	hallDtSub

std::string	hallDtTopic

std::string	imageColorTopic

std::string	imageDepthTopic

ros::Subscriber	imuSub

std::string	imuTopic

int	leftSgn

ros::Subscriber	magneticSub

std::string	magneticTopic

int	maxForwardSpeed

int	maxLeftSteering

int	maxReverseSpeed

int	maxRightSteering

string_msg	mode

ros::Publisher	modeControl

std::string	modeControlTopic

ros::Publisher	motorCommand

std::string	motorCommandTopic

int16_msg	motorMessage

ros::NodeHandle *	nh

ros::Subscriber	odomSub

std::string	odomTopic

int	rightSgn

int	speedStep

ros::Publisher	steeringCommand

std::string	steeringCommandTopic

int16_msg	steeringMessage

int	steeringStep

QTimer *	timer

std::string	toggleDAQService

std::string	toggleKinectService

std::string	toggleMotorService

std::string	toggleUSService

Ui::Dashboard *	ui

ros::Subscriber	usfSub

std::string	usfTopic

ros::Subscriber	uslSub

std::string	uslTopic

ros::Subscriber	usrSub

std::string	usrTopic

ros::Subscriber	vdBatSub

std::string	vdBatTopic

std::string	videoFeedMode

ros::Subscriber	vsBatSub

std::string	vsBatTopic

double	x

double	y

double	z

Detailed Description

The Dashboard class provides functionality for the autogenerated ui header.

This class implements the means for the GUI to interface ROS functionality, i.e. publishing and subscribing to topics as well as call ROS services. The Dashboard GUI is meant to be used in combination with the pses_ucbridge or the pses_simulation package, since its build around the pses robot functionality.

Definition at line 218 of file dashboard.h.

Constructor & Destructor Documentation

Dashboard::Dashboard	(	ros::NodeHandle *	nh,
		QWidget *	parent = `0`
	)

explicit

Dashboard constructor.

Parameters

[in]	nh	ros::NodeHandle object needed to interact with the ros framework.
[in]	parent	optional parameter to signal if this is a sub widget of another ui container.

Definition at line 9 of file dashboard.cpp.

Dashboard::~Dashboard ( )

virtual

Dashboard default destructor.

Definition at line 36 of file dashboard.cpp.

Member Function Documentation

void Dashboard::callGetCarIdServide ( )

private

Get the id from the ucboard.

Definition at line 352 of file dashboard.cpp.

void Dashboard::callGetFirmwareServide ( )

private

Get the firmware version from the ucboard.

Definition at line 335 of file dashboard.cpp.

void Dashboard::callGetSidServide ( )

private

Get the session id from the ucboard.

Definition at line 369 of file dashboard.cpp.

void Dashboard::cameraCallback ( const image_msg::ConstPtr & img )

private

This function gets called whenever a message has been published to the color image topic.

It decides how to display the revceived data.

Definition at line 504 of file dashboard.cpp.

void Dashboard::cameraSelect ( int index )

privateslot

This function gets called whenever the camera mode changed.

It subscribes to the selected camera topic and displays its output.

Definition at line 705 of file dashboard.cpp.

void Dashboard::centerSteeringClicked ( )

privateslot

This function gets called whenever the center steering button has been clicked.

It published zero on the steering level topic.

Definition at line 790 of file dashboard.cpp.

void Dashboard::configureVideoFeed ( )

private

Set up video feed based on launch parameters.

Definition at line 386 of file dashboard.cpp.

void Dashboard::connectGuiSignals ( )

private

Register gui relevant callbacks e.g. buttons, silders etc.

Definition at line 415 of file dashboard.cpp.

void Dashboard::depthCallback ( const image_msg::ConstPtr & img )

private

This function gets called whenever a message has been published to the depth image topic.

It decides how to display the revceived data.

Definition at line 511 of file dashboard.cpp.

void Dashboard::driveBatteryCallback ( const battery_msg::ConstPtr & vdBat )

private

This function gets called whenever a message has been published to the drive battery topic.

It decides how to display the revceived data.

Definition at line 494 of file dashboard.cpp.

void Dashboard::fetchStartupParameters ( )

private

Get all available launch parameters.

Definition at line 38 of file dashboard.cpp.

void Dashboard::hallCntCallback ( const uint8_msg::ConstPtr & hallCnt )

private

This function gets called whenever a message has been published to the hall count topic.

It decides how to display the revceived data.

Definition at line 479 of file dashboard.cpp.

void Dashboard::hallDt8Callback ( const float64_msg::ConstPtr & hallDt8 )

private

This function gets called whenever a message has been published to the hall dt 8 topic.

It decides how to display the revceived data.

Definition at line 489 of file dashboard.cpp.

void Dashboard::hallDtCallback ( const float64_msg::ConstPtr & hallDt )

private

This function gets called whenever a message has been published to the hall dt topic.

It decides how to display the revceived data.

Definition at line 484 of file dashboard.cpp.

void Dashboard::imuCallback ( const imu_msg::ConstPtr & imu )

private

This function gets called whenever a message has been published to the imu topic.

It decides how to display the revceived data.

Definition at line 447 of file dashboard.cpp.

void Dashboard::initTopicPollingTimer ( )

private

Ininit ros topic polling timer.

This is needed in case of prolonged inactivity from topics.

Definition at line 440 of file dashboard.cpp.

void Dashboard::keyPressEvent ( QKeyEvent * event )

Callback function in case of a key event.

This function decides what to do in case of a pressed key event.

Parameters

[in] event signals what key has been pressed

Definition at line 569 of file dashboard.cpp.

void Dashboard::magneticCallback ( const magnetic_msg::ConstPtr & magnetic )

private

This function gets called whenever a message has been published to the magnetic field topic.

It decides how to display the revceived data.

Definition at line 457 of file dashboard.cpp.

void Dashboard::maxLeftSteeringClicked ( )

privateslot

This function gets called whenever the max left steering button has been clicked.

It published the max left steering on the steering level topic.

Definition at line 770 of file dashboard.cpp.

void Dashboard::maxRightSteeringClicked ( )

privateslot

This function gets called whenever the max right steering button has been clicked.

It published the max right steering on the steering level topic.

Definition at line 780 of file dashboard.cpp.

void Dashboard::maxSpeedClicked ( )

privateslot

This function gets called whenever the max speed button has been clicked.

It published the max forward speed on the motor level topic.

Definition at line 740 of file dashboard.cpp.

void Dashboard::minSpeedClicked ( )

privateslot

This function gets called whenever the min speed button has been clicked.

It published the max reverse speed on the motor level topic.

Definition at line 750 of file dashboard.cpp.

void Dashboard::modeSelect ( int index )

privateslot

This function gets called whenever a mode has been selected.

It published the selected mode on a mode selection topic.

Definition at line 698 of file dashboard.cpp.

void Dashboard::odomCallback ( const odom_msg::ConstPtr & odom )

private

This function gets called whenever a message has been published to the odometry topic.

It decides how to display the revceived data.

Definition at line 532 of file dashboard.cpp.

void Dashboard::pollNodeHandle ( )

privateslot

This function gets called whenever the polling timer runs out.

It polls the queues of subscribed/published ros topics.

Definition at line 644 of file dashboard.cpp.

void Dashboard::reconfigureSpeedSlider ( )

private

Reconfigure the gui (e.g. speed slider) according to launch paramters.

Definition at line 286 of file dashboard.cpp.

void Dashboard::registerRosTopics ( )

private

Register all published/subscribed ros topics.

Definition at line 306 of file dashboard.cpp.

void Dashboard::systemBatteryCallback ( const battery_msg::ConstPtr & vsBat )

private

This function gets called whenever a message has been published to the system battery topic.

It decides how to display the revceived data.

Definition at line 499 of file dashboard.cpp.

void Dashboard::toggleDAQ ( )

privateslot

This function gets called whenever the daq toggle button has been pressed.

It calls the ros::Service to toggle the daq.

Definition at line 686 of file dashboard.cpp.

void Dashboard::toggleKinect ( )

privateslot

This function gets called whenever the kinect toggle button has been pressed.

It calls the ros::Service to toggle the kinect power supply.

Definition at line 650 of file dashboard.cpp.

void Dashboard::toggleMotor ( )

privateslot

This function gets called whenever the motor toggle button has been pressed.

It calls the ros::Service to toggle the motor control.

Definition at line 674 of file dashboard.cpp.

void Dashboard::toggleUS ( )

privateslot

This function gets called whenever the us toggle button has been pressed.

It calls the ros::Service to toggle the ultra sonic range sensors.

Definition at line 662 of file dashboard.cpp.

void Dashboard::usfCallback ( const range_msg::ConstPtr & usf )

private

This function gets called whenever a message has been published to the front ultra sonic range topic.

It decides how to display the revceived data.

Definition at line 474 of file dashboard.cpp.

void Dashboard::uslCallback ( const range_msg::ConstPtr & usl )

private

This function gets called whenever a message has been published to the left ultra sonic range topic.

It decides how to display the revceived data.

Definition at line 469 of file dashboard.cpp.

void Dashboard::usrCallback ( const range_msg::ConstPtr & usr )

private

This function gets called whenever a message has been published to the right ultra sonic range topic.

It decides how to display the revceived data.

Definition at line 464 of file dashboard.cpp.

void Dashboard::valueChangedSpeed ( int value )

privateslot

This function gets called whenever the speed slider changed.

It published the selected speed on the motor level topic.

Definition at line 726 of file dashboard.cpp.

void Dashboard::valueChangedSteering ( int value )

privateslot

This function gets called whenever the steering slider changed.

It published the selected speed on the steering level topic.

Definition at line 733 of file dashboard.cpp.

void Dashboard::zeroSpeedClicked ( )

privateslot

This function gets called whenever the zero speed button has been clicked.

It published zero on the motor level topic.

Definition at line 760 of file dashboard.cpp.

Member Data Documentation

int Dashboard::bwdSgn

private

The sign of a certain steering/driving direction.

Definition at line 385 of file dashboard.h.

ros::Subscriber Dashboard::cameraSub

private

Definition at line 397 of file dashboard.h.

ros::Subscriber Dashboard::depthSub

private

ros::Subscriber objects.

Definition at line 397 of file dashboard.h.

double Dashboard::distanceTravelled

private

Current travelled distance (only if odometry available)

Definition at line 391 of file dashboard.h.

int Dashboard::fwdSgn

private

Definition at line 385 of file dashboard.h.

std::string Dashboard::getCarIdService

private

Definition at line 377 of file dashboard.h.

std::string Dashboard::getFirmwareService

private

Definition at line 377 of file dashboard.h.

std::string Dashboard::getSidService

private

Definition at line 377 of file dashboard.h.

ros::Subscriber Dashboard::hallCntSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::hallCntTopic

private

Definition at line 377 of file dashboard.h.

ros::Subscriber Dashboard::hallDt8Sub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::hallDt8Topic

private

Definition at line 377 of file dashboard.h.

ros::Subscriber Dashboard::hallDtSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::hallDtTopic

private

Definition at line 377 of file dashboard.h.

std::string Dashboard::imageColorTopic

private

Definition at line 377 of file dashboard.h.

std::string Dashboard::imageDepthTopic

private

Definition at line 377 of file dashboard.h.

ros::Subscriber Dashboard::imuSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::imuTopic

private

Definition at line 377 of file dashboard.h.

int Dashboard::leftSgn

private

Definition at line 385 of file dashboard.h.

ros::Subscriber Dashboard::magneticSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::magneticTopic

private

Definition at line 377 of file dashboard.h.

int Dashboard::maxForwardSpeed

private

Definition at line 383 of file dashboard.h.

int Dashboard::maxLeftSteering

private

Definition at line 383 of file dashboard.h.

int Dashboard::maxReverseSpeed

private

Definition at line 383 of file dashboard.h.

int Dashboard::maxRightSteering

private

Definition at line 383 of file dashboard.h.

string_msg Dashboard::mode

private

Current driving mode

Definition at line 390 of file dashboard.h.

ros::Publisher Dashboard::modeControl

private

Definition at line 395 of file dashboard.h.

std::string Dashboard::modeControlTopic

private

Definition at line 377 of file dashboard.h.

ros::Publisher Dashboard::motorCommand

private

Definition at line 395 of file dashboard.h.

std::string Dashboard::motorCommandTopic

private

Definition at line 377 of file dashboard.h.

int16_msg Dashboard::motorMessage

private

Current motor level

Definition at line 388 of file dashboard.h.

ros::NodeHandle* Dashboard::nh

private

Pointer to a ros::NodeHandle object.

Definition at line 376 of file dashboard.h.

ros::Subscriber Dashboard::odomSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::odomTopic

private

Subscribed/Published topic names.

Definition at line 377 of file dashboard.h.

int Dashboard::rightSgn

private

Definition at line 385 of file dashboard.h.

int Dashboard::speedStep

private

Definition at line 383 of file dashboard.h.

ros::Publisher Dashboard::steeringCommand

private

ros::Publisher objects.

Definition at line 395 of file dashboard.h.

std::string Dashboard::steeringCommandTopic

private

Definition at line 377 of file dashboard.h.

int16_msg Dashboard::steeringMessage

private

Current steering level

Definition at line 389 of file dashboard.h.

int Dashboard::steeringStep

private

Gui parameter

Definition at line 383 of file dashboard.h.

QTimer* Dashboard::timer

private

Ros queue polling timer.

Definition at line 400 of file dashboard.h.

std::string Dashboard::toggleDAQService

private

Definition at line 377 of file dashboard.h.

std::string Dashboard::toggleKinectService

private

Definition at line 377 of file dashboard.h.

std::string Dashboard::toggleMotorService

private

Definition at line 377 of file dashboard.h.

std::string Dashboard::toggleUSService

private

Definition at line 377 of file dashboard.h.

Ui::Dashboard* Dashboard::ui

private

Pointer to the auto generated ui implementation.

Definition at line 375 of file dashboard.h.

ros::Subscriber Dashboard::usfSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::usfTopic

private

Definition at line 377 of file dashboard.h.

ros::Subscriber Dashboard::uslSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::uslTopic

private

Definition at line 377 of file dashboard.h.

ros::Subscriber Dashboard::usrSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::usrTopic

private

Definition at line 377 of file dashboard.h.

ros::Subscriber Dashboard::vdBatSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::vdBatTopic

private

Definition at line 377 of file dashboard.h.

std::string Dashboard::videoFeedMode

private

Selected video feed mode

Definition at line 387 of file dashboard.h.

ros::Subscriber Dashboard::vsBatSub

private

Definition at line 397 of file dashboard.h.

std::string Dashboard::vsBatTopic

private

Definition at line 377 of file dashboard.h.

double Dashboard::x

private

Definition at line 393 of file dashboard.h.

double Dashboard::y

private

Definition at line 393 of file dashboard.h.

double Dashboard::z

private

Current position (only if odometry available)

Definition at line 393 of file dashboard.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Slots

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation